The invention provides a lane departure early warning method and a lane departure early warning system, wherein the method comprises the following steps that: a lane line in a lane line image is obtained through a reversing camera arranged at the tail part of an automobile; the mapping relationship between an image coordinate system and a world coordinate system is determined; a second coordinate equation of the lane line in the world coordinate system is determined according to a first coordinate equation of the obtained lane line in the image coordinate system; after the distance from a rear axle center of the automobile to the lane line is determined according to coordinate equation parameters in the second coordinate equation, the distance from a front axle center of the automobile to the lane line is determined; and if the distance from the front axle center of the automobile to the lane line is smaller than a preset distance, and the condition that a steering lamp turning-on signal is not received is determined, an instrument warning device is turned on, so that the instrument warning device gives out a lane departure early warning signal. The goal of providing the lane departure early warning method and the lane departure early warning system is achieved; whether the automobile generates lane departure or not can be effectively and accurately judged; and the automobile lane departure early warning can be accurately performed.
Lane departure early warning method and lane departure early warning system
2015-08-26
Patent
Elektronische Ressource
Englisch
IPC: | B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein |
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